Advanced control system for a livestock feed mixer

ABSTRACT

A control system for mixing materials for livestock feed including a container that receives the materials, agitators that mix the materials in the container, a driveline that drives the agitators at an output speed with an output torque, a power source that provides an input speed at an input torque, a continuously variable transmission that connects the driveline and the power source and having a hydrostatic loop to provide a speed ratio between the input speed and the output speed, a plurality of sensors positioned between the power source and the agitators that provides mixing signals commensurate to mixing parameters, and an electronic control unit configured to receive the mixing signals, extract mixing parameter values from the mixing signals, and actuate the continuously variable transmission and adjust the speed ratio based on the mixing parameter values to enhance efficiency of the mixing of the materials.

BACKGROUND Field of the Disclosure

The present disclosure relates to control system for mixers. Moreprecisely, the present application relates to transmission controlapplied to livestock feed mixers.

Description of the Related Art

In today's livestock management, feeding a large number of animalsprecisely and rapidly is essential.

Such a demand in livestock feeding can be addressed with agriculturalmachinery that can receive large quantities of feed materials, e.g., hayand grains, mix uniformly these feed materials to obtain a homogenousfeed mixture, transport and distribute this feed mixture to thelivestock.

To this end, conventional livestock feed mixers that utilize an externalsource of torque, e.g., a tractor, to mix the feed materials have beenadopted. In such conventional livestock feed mixers, torque and/or powerrequirements can be important and varied as physical characteristics ofthe feed materials, e.g., viscosity, mass, or volume, as well as mixingcharacteristics, mixing homogeneity or mixing time, can vary dependingon a plurality of characteristics, e.g., livestock size and type, orweather conditions.

Although such conventional livestock feed mixers are widely used, theypresent important drawbacks. Notably such conventional livestock feedmixers lack in providing an efficient and fast mixing for the feedmaterials. When feed materials are added and/or released from theconventional livestock teed mixers, mixing conditions can changeabruptly and make the mixing inefficient and/or slow.

Thus, a control system for k feed mixer solving the aforementionedproblem is desired.

SUMMARY

Accordingly, the object of the present disclosure is to provide a systemand a method to control a livestock feed mixer which overcomes theabove-mentioned limitations.

The control system of the present disclosure provides an efficientmixing by monitoring the mixing conditions and adjusting the livestockfeed mixer based on the mixing conditions via a continuously variabletransmission.

In one non-limiting illustrative example, a control system for alivestock feed mixer is presented. The control system for a livestockfeed mixer includes a container that receives the materials, agitatorsthat mix the materials in the container, a driveline that drives theagitators at an output speed with an output torque, a power source thatprovides an input speed at an input torque, a continuously variabletransmission that connects the driveline and the power source and havinga hydrostatic loop to provide a speed ratio between the input speed andthe output speed, a plurality of sensors positioned between the powersource and the agitators that provides mixing signals commensurate tomixing parameters, and an electronic control unit configured to receivethe mixing signals, extract mixing parameter values from the mixingsignals, and actuate the continuously variable transmission and adjustthe speed ratio based on the mixing parameter values to enhanceefficiency of the mixing of the materials.

In another non-limiting illustrative example, a method to control torqueof a livestock feed mixer is presented. The control system includes acontainer to receive the materials, agitators to mix the materials inthe container, a driveline to drive the agitators at an output speedwith an output torque, a power source to provide an input speed with aninput torque, a continuously variable transmission to connect thedriveline to the power source and provide a speed ratio between theinput speed and the output speed, a plurality of sensors positionedbetween the power source and the agitators that provides mixing signalscommensurate to mixing parameters, and an electronic control unitconfigured to control the mixing of the materials. The method to controltorque includes acquiring, via the plurality of sensors and softwareinstructions executed by the electronic control unit, mixing parameters,detecting, via software instructions executed by the electronic controlunit, if the materials are being loaded in the container based on themixing parameters, detecting, via software instructions executed by theelectronic control unit, if the materials are being released from thecontainer based on the mixing parameters, and adjusting, via softwareinstructions executed by the electronic control unit, a value of thespeed ratio to increase or decrease the output speed and enhance thereleasing and the mixing of the materials.

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS

To easily identify the discussion of any particular element or act, themost significant digit or digits in a reference number refer to thefigure number in which that element is first introduced.

FIG. 1A is a cross sectional view of a livestock feed mixer torqued by apower source and controlled by a control system in a firstconfiguration, according to certain aspects of the disclosure;

FIG. 1B is a cross sectional view of a livestock feed mixer torqued by apower source and controlled by a control system in a secondconfiguration, according to certain aspects of the disclosure;

FIG. 1C is a cross sectional view of a livestock feed mixer torqued by apower source and controlled by a control system in a thirdconfiguration, according to certain aspects of the disclosure;

FIG. 2 is a schematic view of the control system, according to certainaspects of the disclosure;

FIG. 3 is a flow chart of a method for operating the livestock feedmixer through the control system, according to certain aspects of thedisclosure;

FIG. 4 is a schematic view of a hardware diagram of an electroniccontrol unit for operating the control system, according to certainaspects of the disclosure;

FIG. 5A is a sectional view of a variable displacement pump in acentered position of the livestock feed mixer, according to certainaspects of the disclosure; and

FIG. 5B is a sectional view of the variable displacement pump in astartup position of the livestock feed mixer, according to certainaspects of the disclosure.

DETAILED DESCRIPTION

All publications, patent applications, patents, and other referencesmentioned herein are incorporated by reference in their entirety.Further, the materials, methods, and examples discussed herein areillustrative only and are not intended to be limiting.

In the drawings, like reference numerals designate identical orcorresponding parts throughout the several views. Further, as usedherein, the words “a”, “an” and the like include a meaning of “one ormore”, unless stated otherwise. The drawings are generally drawn not toscale unless specified otherwise or illustrating schematic structures orflowcharts.

It is to be understood that terms such as “front,” “rear,” and the likethat may be used herein merely describe points of reference and do notnecessarily limit embodiments of the present disclosure to anyparticular orientation or configuration. Furthermore, terms such as“first,” “second,” “third,” etc., merely identify one of a number ofportions, components, and/or points of reference as disclosed herein,and likewise do not necessarily limit embodiments of the presentdisclosure to any particular configuration or orientation.

Furthermore, the terms “approximately,” “proximate,” “minor,” andsimilar terms generally refer to ranges that include the identifiedvalue within a margin of 20%, 10% or preferably 5% in certainembodiments, and any values therebetween.

FIGS. 1A-1C are cross sectional views of a livestock feed mixer B-1000powered by a power source C-1000 and controlled by a control systemA-1000 in a first configuration, a second configuration, and a thirdconfiguration, according to certain aspects of the disclosure.

The livestock feed mixer B-1000 includes a container B-1100 to receivematerials 100, e.g., hay and/or grains, agitators B-1300, a drivelineB-1200 to transfer an output torque T_(out) from the control systemA-1000 to the agitators B-1300, and an opening system B-1500, e.g.,articulable doors, to open the container B-1100 on an externalenvironment and allow the materials 100 to be discharged and to closethe container B-1100 to the external environment and allow the materials100 to be loaded in the container B-1100.

The power source C-1000 can be a tractor C-1100 with a torque take-offC-1200, as illustrated by first and second configurations in FIGS.1A-1B, an internal combustion engine of a truck as illustrated by athird configuration in FIG. 1C, an electric motor, or any other type ofsource of torque and/or power that can provide an input torque T_(in) atan input speed W_(in) to the control system A-1000.

The power source C-1000 can include a power source actuator C-1500operatively connected to the control system A-1000 to adjust the inputspeed W_(in) and/or the input torque T_(in), e.g., a throttle of theinternal combustion engine, and/or electrical motor controls.

The agitators B-1300 can be reels and/or augers placed substantiallyvertically, as illustrated in FIG. 1A, or placed substantiallyhorizontally, as illustrated by the second and third configurations inFIGS. 1B-1C.

The control system A-1000 provides optimization of the livestock feedmixer B-1000 by controlling the transmission of torque between the powersource C-1000 and the livestock feed mixer B-1000 and/or by directlycontrolling the input torque T_(in) from the power source C-1000depending on mixing conditions, e.g., addition of materials 100, and/orrelease of materials 100, in the livestock feed mixer B-1000.

FIG. 2 is a schematic view of the control system A-1000, according tocertain aspects of the disclosure.

The control system A-1000 can include an electric control unit A-1100,an output unit A-1200 electronically connected to the electric controlunit A-1100 to display key information to an operator 200, an input unitA-1300 electronically connected to the electric control unit A-1100 toreceive input information from the operator 200, a continuously variabletransmission (CVT) A-1500 actuated by the electric control unit A-1100and connecting the torque take-off C-1200 of the power source C-1000 tothe driveline B-1200 of the livestock feed mixer B-1000, and a pluralityof sensors A-1400 to provide signals indicative of the mixingconditions, e.g., pressure, temperature, rotational velocity, torque,receiving and/or releasing of the materials 100.

The continuously variable transmission (CVT) A-1500 transmits the inputtorque T_(in) from the torque take-off C-1200 of the power source C-1000to the output torque T_(out) for the driveline B-1200 of the livestockfeed mixer B-1000 and converts the input speed W_(in) from the torquetake-off C-1200 into an output speed W_(out) for the driveline B-1200 toactuate the agitators B-1300.

The continuously variable transmission A-1500 includes a hydraulicactuator A-1510 to adjust a speed ratio R_(in/out) between the inputspeed W_(in) and the output speed W_(out).

The hydraulic actuator A-1510 can include a pump and motor mounted ontoa hydrostatic loop A-1520, as illustrated in FIG. 2, that circulates ahydraulic fluid, e.g., oil, and provides variable flow of the hydraulicfluid. The hydraulic actuator A-1510 can adjust the speed ratioR_(in/out) between a minimum speed ratio R_(min) and a maximum speedratio R_(max) by varying the flow of the hydraulic fluid between aminimum flow F_(min), corresponding to a full negative displacementD_(min), and a maximum flow F_(max), corresponding to a full positivedisplacement D_(max).

For example, the pump can be a variable displacement pump 4000, asillustrated in FIGS. 5A-5B that can adjust the speed ratio R_(in/out)between the minimum speed ratio R_(min) and the maximum speed ratioR_(max) by relying on articulating a swash plate 138. In addition, thevariable displacement pump 4000 can be configured to facilitateengagement between the power source C-1000 and the livestock feed mixerB-1000, e.g., startup, by relying on a bias system 400 that maintainedthe swash plate 138 at a predetermined position. The predeterminedposition being between 0 and 100% negative displacement and preferablybetween and 35% and 65% negative displacement.

The different elements of the variable displacement pump 4000 as well astheir interactions will be described in further details in the followingparagraphs.

The speed ratio R_(in/out) can be adjusted by the electronic controlunit A-1100 to provide values of the output speed W_(out) that followsoperator instructions entered through the input unit A-1300 or thatfollows software instructions executed by a processor A-1102 includingprocessing circuitry inside the electronic control unit A-1100 tooptimize the livestock feed mixer B-1000, as illustrated in FIG. 2.

The continuously variable transmission A-1500 is characterized by amaximum output torque T_(out max) above which the continuously variabletransmission A-1500 may experience reduced life or failure. For example,the maximum output torque T_(out max) can correspond to a maximumhydraulic pressure of the hydraulic actuator A-1510 and/or thehydrostatic loop A-1520. The maximum hydraulic pressure can be between100 bar and 1000 bar, preferably between 300 bar and 500 bar which cancorrespond to a value of the maximum output torque T_(out max) between1020 Nm and 10200 Nm, and preferably between 3070 Nm and 5100 Nm.

The torque take-off C-1200 is characterized by a maximum input torqueT_(in max) above which the power source C-1000 fails to providenecessary torque to mix the materials 100. For example, the maximumoutput torque T_(out max) can be between 500 Nm and 5000 Nm, andpreferably between 1000 Nm and 3000 Nm.

The plurality of sensors A-1400 can include a hydraulic pressure sensorA-1450 placed on the hydraulic actuator A-1510 and/or the hydrostaticloop A-1520 to provide to the electronic control unit A-1100 pressuresignals indicative of values of the pressure P and/or values of rate ofchange of the pressure dP of the hydraulic fluid of the continuouslyvariable transmission A-1500, a hydraulic fluid temperature sensorA-1420 placed on the hydraulic actuator A-1510 and/or the hydrostaticloop A-1520 to provide to the electronic control unit A-1100 temperaturesignals indicative of values of the temperature Temp and/or values ofrate of change of the temperature dTemp of the continuously variabletransmission A-1500, an output speed sensor A-1430 positioned betweenthe continuously variable transmission A-1500 and the mixer B-1000,e.g., on the driveline B-1200 to provide to the electronic control unitA-1100 speed signals indicative of values of the output speed W_(out)and/or values of rate of change of the output speed dW_(out), an outputtorque sensor A-1410 positioned between the continuously variabletransmission A-1500 and the mixer B-1000 to provide to the electroniccontrol unit A-1100 output torque signals indicative of values of theoutput torque T_(out), and/or values of rate of change of the outputtorque dT_(out), an input speed sensor A-1460 positioned between thepower source C-1000 and the continuously variable transmission A-1500,e.g., on the torque take-off C-1200 or the hydraulic actuator A-1510, toprovide to the electronic control unit A-1100 input speed signalsindicative of values of the input speed W_(in) and/or values of rate ofchange of the input speed dW_(in), an input torque sensor A-1470positioned between the power source C-1000 and the continuously variabletransmission A-1500 to provide to the electronic control unit A-1100input torque signals indicative of values of the input torque T_(in),and/or values of rate of change of the input torque dT_(in), and aposition sensor A-1440 to provide to the electronic control unit A-1100position signals indicative of the articulation state of the openingsystem B-1500, e.g., open, closed, and between thereof.

In addition, the plurality of sensors can include a drivelinetemperature sensor A-1480 positioned on the driveline B-1200 to provideto the electronic control unit A-1100 driveline temperature signalsindicative of values of the driveline temperature TempDr and/or valuesof rate of change of the driveline temperature dTempDr of the differentelements of the driveline B-1200, gearboxes, shaft, bearings, and thelike.

The output unit A-1200 can be configured to display the key informationto the operator 200 via a status bar, graphical user interface,visualization systems, and/or additive systems.

The input unit A-1300 is configured to receive the input informationfrom the operator 200 and transmits the input information to theelectronic control unit A-1100. For example, the input system A-1300 caninclude push buttons, keyboard buttons, and/or touch screen sensitiveicons and the input information can include a value of an output targetspeed W_(out target) for the livestock feed mixer B-1000, a value forthe maximum input torque T_(in max) available by the power sourceC-1000, a value of the minimum speed ratio R_(min), a value of themaximum speed ratio R_(max), and a value for the maximum output torqueT_(out max) that can be transmitted by the continuously variabletransmission A-1500.

Alternatively, the values of the maximum input torque T_(in max), theminimum speed ratio R_(min), the maximum speed ratio R_(max), themaximum output torque T_(out max) can be selected from a list of defaultvalues stored in the memory A-1104 and/or database of the electriccontrol unit A-1100, as illustrated in FIG. 4.

Alternatively, the values of the maximum input torque T_(in max), theminimum speed ratio R_(min), the maximum speed ratio R_(max), and themaximum output torque T_(out max) can be downloaded from a memory of thepower source C-1000 to the memory A-1104 and/or database of the electriccontrol unit A-1100.

FIG. 3 is a flow chart of a method for operating the livestock feedmixer B-1000 through the control system A-1000, according to certainaspects of the disclosure.

In a step S1000, an output target speed W_(out target) and/or an outputtarget torque T_(out target) is manually entered by the operator 200 viathe input system A-1300 or automatically selected from the list ofdefault values, via software instructions executed by the electroniccontrol unit A-1100.

In a step S2000, the mixing parameters relevant to the control andoptimization of the livestock feed mixer B-1000 are measured. Themeasure of the mixing conditions can be automatically performed viasoftware instructions executed by the electronic control unit A-1100.For example, the software instructions can be written and the electroniccontrol unit A-1100 can be configured to receive the pressure signalsindicative of values of the pressure P and/or values of rate of changeof pressure dP of the hydraulic fluid of the continuously variabletransmission A-1500 from the hydraulic pressure sensor A-1450, thetemperature signals indicative of values of the temperature Temp and/orvalues of rate of change of temperature dTemp of the continuouslyvariable transmission A-1500 from the hydraulic fluid temperature sensorA-1420, the speed signals indicative of values of the output speedW_(out) and/or values of rate of change of the output speed dW_(out)from the output speed sensor A-1430, the output torque signalsindicative of values of the output power T_(out), and/or values of rateof changes of the output/input power dT_(out) from the output torquesensor A-1410, input speed signals indicative of values of the inputspeed W_(in) and/or values of rate of change of the input speed dW_(in)from the input speed sensor A-1460, the input torque signals indicativeof values of the input power T_(in), and/or rate values of rate ofchanges of the input power dT_(in) from input torque sensor A-1470, theposition signals indicative of the articulation state of the openingsystem B-1500 from a position sensor A-1440.

In a step S3000, risks of failure, e.g., overheating, and/or abnormalfriction, that can affect the livestock feed mixer B-1000 and/or thecontinuously variable transmission A-1500 are detected. The detection ofrisks of failure for the livestock feed mixer B-1000 and/or thecontinuously variable transmission A-1500 can be detected automaticallythrough software instructions executed by the electronic control unitA-1100 and based on the values of the mixing parameters measured in thestep S1000.

For example, the software instructions can be written and the electroniccontrol unit A-1100 can be configured to receive the temperature signalsof the hydraulic fluid of the continuously variable transmission A-1500,extract values of the temperature Temp of the hydraulic fluid of thecontinuously variable transmission A-1500, and compare the values thetemperature Temp of the hydraulic fluid of the continuously variabletransmission A-1500 to a minimum temperature threshold Temp_(min) and amaximum temperature threshold Temp_(max). The risks of failure for thecontinuously variable transmission A-1500 and/or the livestock feedmixer B-1000 can be detected if the values of the temperature Temp arebelow the minimum temperature threshold Temp_(min), e.g., warm up may benecessary, or if the values of the temperature Temp are above themaximum temperature threshold Temp_(max), e.g., overheating protectionmay be necessary.

In another example, the software instructions can be written and theelectronic control unit A-1100 can be configured to receive thetemperature signals, extract values of rate of change of temperaturedTemp of the continuously variable transmission A-1500, and compare thevalues of the rate of change of the temperature dTemp to a minimumtemperature rate threshold dTemp_(min) and a maximum temperature ratethreshold dTemp_(max). The risks of failure for the continuouslyvariable transmission A-1500 and/or the livestock feed mixer B-1000 canbe detected if values of the rate of change of temperature dTemp arebelow the minimum temperature rate threshold dTemp_(min), e.g., warm upmay be necessary, presence of defective sensors such as the hydraulicfluid temperature sensor A-1420, and/or the hydraulic pressure sensorA-1450, and/or defective actuators such as the hydraulic actuatorA-1510, and/or hydrostatic loop A-1520, or if the values of the rate ofchange of the temperature Temp are above the maximum temperature ratethreshold dTemp_(max), e.g., overheating protection may necessary.

If the risks of failure for the continuously variable transmissionA-1500 and/or the livestock feed mixer B-1000 are detected the processgoes to a step S3500. Otherwise, the process goes to a step S4000.

In the step S3500, the process is configured to protect the continuouslyvariable transmission A-1500 by minimizing and/or reducing heatgenerated in the hydraulic fluid.

For example, through software instructions executed by the electroniccontrol unit A-1100, the hydraulic actuator A-1510 can actuate thecontinuously variable transmission A-1500 to reduce and/or minimize thehydraulic flow. The hydraulic actuator A-1510 can actuate thecontinuously variable transmission A-1500 to have a value of the speedratio R_(in/out) that is approximately equal to a minimum hydraulic flowrate of the hydraulic fluid going through the continuously variabletransmission A-1500 to limit and/or reduce heat in the hydraulic fluid.

In another example, through software instructions executed by theelectronic control unit A-1100, the hydraulic actuator A-1510 actuatesthe continuously variable transmission A-1500 to smoothly transitionfrom the minimum speed ratio R_(min) up to a speed ratio correspondingto the output target speed W_(out target). The hydraulic act or A-1510can maintain the continuously variable transmission A-1500 at theminimum speed ratio R_(min) for a predetermined period of time such thatthe driveline B-1200 and the agitators B-1300 have a constant speed andthen the hydraulic actuator A-1510 can gradually increase the speedratio R_(in/out) up to a value corresponding to the output target speedW_(out target). The predetermined period of time can be between 0.1second and 100 seconds and preferably between 1 second and 10 seconds.

In a step S4000, it is detected if the livestock feed mixer B-1000 is ina loading state, e.g., materials 100 are being added to the containerB-1100. The detection that the livestock feed mixer B-1000 is in theloading state can be performed automatically through softwareinstructions executed by the electro control unit A-1100 and based onthe values of the mixing parameters measured in the step S2000.

For example, the software instructions can be written and the electroniccontrol unit A-1100 can be configured to receive the pressure signals ofthe hydraulic fluid of the continuously variable transmission A-1500,extract values of the pressure P of the hydraulic fluid of thecontinuously variable transmission A-1500, and compare the values of thepressure P of the hydraulic fluid of the continuously variabletransmission A-1500 to a minimum pressure threshold P_(min)corresponding to pressures of an empty load, e.g., no materials 100 arepresent in the container B-1100. The loading state for the livestockfeed mixer B-1000 can be detected if the values of the pressure P areabove the minimum pressure threshold Pmin.

In another example, the software instructions can be written and theelectronic control unit A-1100 can be configured to receive the pressuresignals of the hydraulic fluid of the continuously variable transmissionA-1500, extract values of the rate of change of the pressure dP of thehydraulic fluid of the continuously variable transmission A-1500, andcompare the values of the rate of change of the pressure dP of thehydraulic fluid of the continuously variable transmission A-1500 to aminimum pressure rate threshold dP_(min) corresponding to values of therate of change of pressure for an steady load, e.g., no materials 100are added to the container B-1100. The loading state for the livestockfeed mixer B-1000 can be detected if the values of the rate of change ofthe pressure dP are above the minimum pressure rate threshold dPmin.

In another example, the software instruction can be written and theelectronic control unit A-1100 can be configured to receive the positionsignals, and determine the articulation state of the opening systemB-1500. The loading state for the livestock feed mixer B-1000 can bedetected if the articulation state of the opening system B-1500indicates a closed state and/or an articulation towards a closed state.

If the loading state is detected the process goes to a step S4500.Otherwise, the process goes to a step S5000.

In a step S4500, the process is configured to enhance the efficiency ofthe mixing for the livestock feed mixer B-1000.

For example, through software instructions executed by the electroniccontrol unit A-1100, the hydraulic actuator A-1510 actuates thecontinuously variable transmission A-1500 to increase the hydraulic flowand the output speed W_(out). The hydraulic actuator A-1510 can actuatethe continuously variable transmission A-1500 to have a value of thespeed ratio R_(in/out) that is approximately equal to the maximum speedratio R_(out) to maximize the speed of the mixing of the materials 100and to maximize the output torque T_(out) provided by the power sourceC-1000.

In a step S5000, it is detected if the livestock feed mixer B-1000 is ina releasing state, e.g., when materials 100 is released from thecontainer B-1100. The detection that the livestock feed mixer B-1000 isin the release state can be performed automatically through softwareinstructions executed by the electronic control unit A-1100 and based onthe values of the mixing conditions measured in the step S2000.

For example, the software instructions can be written and the electroniccontrol unit A-1100 can be configured to receive the pressure signals ofthe hydraulic fluid of the continuously variable transmission A-1500,extract values of the pressure P of the hydraulic fluid of thecontinuously variable transmission A-1500, and compare the values of thepressure P of the hydraulic fluid of the continuously variabletransmission A-1500 to a maximum pressure threshold P_(max)corresponding to a substantially full load, e.g., the container B-1000is filled with the materials 100. The releasing state for the livestockfeed mixer B-1000) can be detected if the values of the pressure P arebelow the maximum pressure threshold Pmax.

The minimum pressure threshold Pmin and the maximum pressure thresholdPmax can be predetermined based on manufacturercharacteristics/requirements, e.g., dimensions and/or operationparameters ranges of the continuously variable transmission A-1500. Inaddition, t minimum pressure threshold Pmin and the maximum pressurethreshold Pmax can be determined and dynamically adjusted based on thevalues of the mixing conditions measured in the step S2000 throughinterpolation and/or extrapolation.

In another example, the software instructions can be written and theelectronic control unit A-1100 can be configured to receive the pressuresignals of the hydraulic fluid of the continuously variable transmissionA-1500, extract values of the rate of change of pressure dP of thehydraulic fluid of the continuously variable transmission A-1500, andcompare the values of the rate of change of the pressure dP of thehydraulic fluid of the continuously variable transmission A-1500 to theminimum rate pressure threshold dP_(min) corresponding to values of therate of change of pressure for a steady load, e.g., no materials 100 areadded to the container B-1100. The releasing state for the livestockfeed mixer B-1000 is detected if the values of the rate of change of thepressure dP are below the minimum pressure rate threshold dPmin.

Similar to the minimum pressure threshold Pmin and the maximum pressurethreshold Pmax, the minimum pressure rate threshold dPmin and themaximum pressure rate threshold dPmax can be predetermined based onmanufacturer characteristics/requirements or be determined anddynamically adjusted based on the values of the mixing conditionsmeasured in the step S2000 through interpolation and/or extrapolation.

In another example, the software instructions can be written and theelectronic control unit A-1100 can be configured to detect values of therate of change of the pressure dP corresponding to a negative rate ofchange of the pressure dP during a predetermined period of time Tn,e.g., between 1 second and 100 seconds, and preferably between 1 secondand 20 seconds, and/or negative values of the rate of change of thepressure dP corresponding to a reduction of an average pressure Mp by apredetermined reduction ratio Ra, e.g., between 1% and 10% andpreferably between 2% and 7%, wherein the average pressure Mp ismeasured over a predetermined average time period TMn, e.g., between 1second and 100 seconds, and preferably between 1 second and 20 seconds.

In another example, the software instruction can be written and theelectronic control unit A-1100 can be configured to receive the positionsignals, and determine the articulation state of the opening systemB-1500. The releasing state for the livestock feed mixer B-1000 can bedetected if the articulation state of the opening system B-1500indicates an open state and/or an articulation towards an open state.

In addition, the position sensor A-1440 can be configured to provideflow signals commensurate with materials 100 flowing through the openingsystem B-1500, such as optical detection sensors and/or feed flowsensors.

In another example, the software instruction can be written and theelectronic control unit A-1100 can be configured to receive the flowsignals, and determine that a minimum quantity of the materials 100 isflowing through the opening system B-1500. The releasing state for thelivestock feed mixer B-1000 can be detected if a minimum quantity of thematerials 100 is flowing through the opening system B-1500.

If the releasing state is detected the process goes to a step S5500.Otherwise, the process goes to a step S6000.

In a step S5500, the process is configured to enhance the efficiency ofthe releasing of the livestock feed mixer B-1000.

For example, through software instructions executed by the electroniccontrol unit A-1100, the hydraulic actuator A-1510 actuates thecontinuously variable transmission A-1500 to increase the hydraulic flowand vary the output speed W_(out). The hydraulic actuator A-1510 canactuate the continuously variable transmission A-1500 to have a value ofthe speed ratio R_(in/out) that is approximately equal to the maximumspeed ratio R_(max) to facilitate the release of the materials 100through the opening system B-1500 and to maximize the output powerT_(out) provided by the power source C-1000.

In a step S6000, it is determined if the livestock feed mixer B-1000needs to be adjusted. The determination that the livestock feed mixerB-1000 needs to be maintained can be performed automatically throughsoftware instructions executed by the electronic control unit A-1100 andbased on the values of the mixing parameters measured in the step S2000.

For example, the software instructions can be written and the electroniccontrol unit A-1100 can be configured to receive the output speedsignals, extract values of the output speed W_(out), and compare thevalues of the output speed W_(out) to the output target speedW_(out target). The need to adjust the output of the livestock feedmixer B-1000 can be determined if the values of the output speed W_(out)are not approximately equal to the output target speed W_(out target).

In another example, the software instructions can be written and theelectronic control unit A-1100 can be configured to receive the outputrate speed signals, extract values of the rate of change of the outputspeed dW_(out), and compare the values of the rate of change of theoutput speed dW_(out) to a minimum output speed rate threshold dW_(out)The need to adjust the output of the livestock feed mixer B-1000 can bedetermined if the values of the rate of change of the output speeddW_(out) are not approximately equal to the minimum output speed ratethreshold dW_(out min).

In another example, the software instructions can be written and theelectronic control unit A-1100 can be configured to receive the outputtorque signals, extract values of the output torque T_(out), and comparethe values of the output torque T_(out) to the output target torqueT_(out target). The need to adjust the output of the livestock feedmixer B-1000 can be determined if the values of the output torqueT_(out) are not substantially close to the output target torque T_(out).

In another example, the software instructions can be written and theelectronic control unit A-1100 can be configured to receive the outputrate torque signals, extract values of the rate of change of the outputtorque dT_(out), and compare the values of the rate of change of theoutput torque dT_(out) to a minimum output torque rate thresholddT_(out min). The need to adjust the output of the livestock feed mixerB-1000 can be determined if the values of the rate of change of theoutput torque dT_(out) are not substantially close to the minimum outputtorque rate threshold dT_(out min).

If the need to adjust the output of the livestock feed mixer B-1000 isdetermined the process goes to a step S6500. Otherwise, the process goesto a step S7000.

In a step S6500, the process is configured to actuate the continuouslyvariable transmission A-1500 to adjust the output of the livestock feedmixer B-1000.

For example, through software instructions executed by the electroniccontrol unit A-1100, the hydraulic actuator A-1510 actuates thecontinuously variable transmission A-1500 to increase and decrease theoutput speed W_(out) and/or to decrease and increase the output torqueT_(out). The hydraulic actuator A-1510 can actuate the continuouslyvariable transmission A-1500 to have a value of the speed ratioR_(in/out) that is approximately equal to the output target speedW_(out target) and/or the output target torque T_(out target).

In a step S7000, it is determined if the power source C-1000 needs to beprotected. The determination that the power source C-1000 needs to beprotected can be performed automatically through software instructionsexecuted by the electronic control unit A-1100 and based on the valuesof the mixing conditions measured in the step S2000.

For example, the software instructions can be written and the electroniccontrol unit A-1100 can be configured to receive the input speedsignals, extract values of the input speed W_(in), and compare thevalues of the input speed W_(in) to a maximum input speed thresholdW_(in), and a minimum input speed threshold W_(in min). The need toadjust the power source C-1000 can be determined if the values of theinput speed W_(in) are above the maximum input speed thresholdW_(in max) or below the minimum input speed threshold W_(in min).

In another example, the software instructions can be written and theelectronic control unit A-1100 can be configured to receive the inputrate speed signals, extract values of the rate of change of the inputspeed dW_(in), and compare the values of the rate of change of the inputspeed dW_(in) to a minimum input speed rate threshold dW_(in min). Theneed to protect the power source C-1000 can be determined if the valuesof the rate of change of the input speed dW_(in) are not substantiallyclose to the minimum input speed rate threshold dW_(in mill) and/orsubstantially close to a maximum input speed rate of threshold dWin max.

In another example, the software instructions can be written and theelectronic control unit A-1100 can be configured to receive the inputspeed signals and the input rate speed signals, extract values of therate of change of the input speed dW_(in) and values of the input speedW_(in) and determine a need to protect the power source C-1000. The needto protect the power source C-1000 can be determined if the values ofthe rate of change of the input speed dW_(in) and the values of theinput speed W_(in) indicate that the input speed W_(in) is constantlydecreasing, e.g., the values of the rate of change of the input speeddW_(in) are negative and substantially constant over a predeterminedperiod of time and/or the values of the input speed W_(in) are below aminimum input speed threshold Win min. The predetermined period of timecan be between 1 second and 100 seconds, and preferably between 1 secondand 20 seconds.

In another example, the software instructions can be written and theelectronic control unit A-1100 can be configured to receive the inputtorque signals, extract values of the input torque T_(in), and comparethe values of the input torque T_(in) to a maximum input torquethreshold T_(in max) and a minimum input torque threshold T_(in max).The need to adjust the power source C-1000 can be determined if thevalues of the input torque T_(in) are above the maximum input torquethreshold T_(in max) or below the minimum input torque thresholdT_(in min).

In another example, the software instructions can be written and theelectronic control unit A-1100 can be configured to receive the inputrate torque signals, extract values of the rate of change of the inputtorque dT_(in), and compare the values of the rate of change of theoutput torque dT_(in) to a minimum input torque rate thresholddT_(in min). The need to maintain the input of the power source C-1000can be determined if the values of the rate of change of the inputtorque dT_(in) are not substantially close to the minimum input torquerate threshold dT_(in min).

In another example, the software instructions can be written and theelectronic control unit A-1100 can be configured to receive the inputtorque signals and the input rate torque signals, extract values of therate of change of the input torque dT_(in) and values of the inputtorque T_(in) and determine a need to adjust the power source C-1000.The need to adjust the power source C-1000 can be determined if thevalues of the rate of change of the input torque dT_(in) and the valuesof the input torque T_(in) indicate that the input torque T_(in) isconstantly, increasing, e.g., the values of the rate of change of theinput torque dT_(in) are positive and substantially constant over apredetermined period of time and/or the values of the input torqueT_(in) stay below the minimum input torque threshold T_(in min). Thepredetermined period of time can be between 1 second and 100 seconds,and preferably between 1 second and 20 seconds.

If the need to protect the power source C-1000 is determined the processgoes to a step S7500. Otherwise, the process stops.

In the step S7500, the process is configured to adjust the continuouslyvariable transmission A-1500 and/or the power source C-1000 to protectthe power source C-1000.

For example, through software instructions executed by the electroniccontrol unit A-1100, the hydraulic actuator A-1510 actuates thecontinuously variable transmission A-1500 to increase and/or decreasethe speed ratio to decrease and/or increase the output speed W_(out)and/or the input torque T_(in). The hydraulic actuator A-1510 canactuate the continuously variable transmission A-1500 to have a value ofthe speed ratio R_(in/out) that the output speed W_(out) is between theminimum output speed threshold W_(out min) and the maximum input speedthreshold W_(out max), and/or the input torque T_(in) is between theminimum input torque threshold T_(in min) and the maximum input torquethreshold T_(in max).

In another example, through software instructions executed by theelectronic control unit A-1100, the power source actuator C-1500 canactuate the power source C-1000 to increase the input speed W_(in)and/or the input torque T_(in) provided by the power source C-1000.

In a step S8000, it is determined if the driveline B-1200 needs to beprotected. The determination that the driveline B-1200 needs to beprotected can be performed automatically through software instructionsexecuted by the electronic control unit A-1100 and based on the valuesof the mixing conditions measured in the step S2000.

For example, the software instructions can be written and the electroniccontrol unit A-1100 can be configured to receive the drivelinetemperature signals, extract values of the driveline temperature TempDr,and compare the values of the driveline temperature TempDr to a maximumdriveline temperature threshold TempDr_(max). The need to protect thedriveline B-1200 can be determined if the values driveline temperatureTempDr are above the maximum driveline temperature thresholdTempDr_(max).

In another example, the soil ware instructions can be written and theelectronic control unit A-1100 can be configured to receive thedriveline temperature signals, extract values of rate of change of thedriveline temperature dTempDr, and compare the values of rate of changeof the driveline temperature dTempDr to a maximum driveline temperaturerate threshold TempDr_(max). The need to protect the driveline B-1200can be determined if the values of the rate of change of the drivelinetemperature TempDr are above the maximum driveline temperature ratethreshold TempDr_(max).

In another example, the software instructions can be written and theelectronic control unit A-1100 can be configured to receive thedriveline temperature signals, extract values of the rate of change ofthe driveline temperature dTempDr and values of the drivelinetemperature TempDr and determine a need to protect the driveline B-1200.The need to protect the driveline B-1200 can be determined if the valuesof the rate of change of the driveline temperature dTempDr and thevalues of the driveline temperature TempDr indicate that thetemperatures of the elements of the driveline B-1200 are constantlyincreasing, e.g., the values of the rate of change of the drivelinetemperature dTempDr are positive and substantially constant over apredetermined period of time and/or the values of the drivelinetemperature TempDr are above the maximum driveline temperature thresholdTempDr_(max). The predetermined period of time can be between 1 secondand 100 minutes, and preferably between 1 minute and 20 minutes.

In the step S8500, the process is configured to adjust the continuouslyvariable transmission A-1500 and/or the power source C-1000 to protectthe driveline B-1200.

For example, through software instructions executed by the electroniccontrol unit A-1100, the hydraulic actuator A-1510 can actuate thecontinuously variable transmission A-1500 to increase the speed ratioR_(in/out) to decrease the output speed W_(out). The hydraulic actuatorA-1510 can actuate the continuously variable transmission A-1500 to havea value of the speed ratio R_(in/out) such that the output speed W_(out)is below a maximum input speed threshold W_(out max) corresponding to aninput speed for which the driveline B-1200 is not overheating and/orexposed to failure, e.g., cracks, excessive friction, or the like.

FIG. 4 is a schema view of a hardware diagram of an electronic controlunit A-1100 for operating the control system A-1000, according tocertain aspects of the disclosure.

As shown in FIG. 4, systems, operations, and processes in accordancewith this disclosure may be implemented using the processor A-1102 or atleast one application specific processor (ASP). The processor A-1102 mayutilize a computer readable storage medium, such as the memory 1104(e.g., ROM, EPROM, EEPROM, flash memory, static memory, DRAM, SDRAM, andtheir equivalents), configured to control the processor A-1102 toperform and/or control the systems, operations, and processes of thisdisclosure. Other storage mediums may be controlled via a diskcontroller A-1106, which may control a hard disk drive A-1108 or opticaldisk drive A-1110.

The processor A-1102 or aspects thereof, in an alternate embodiment, caninclude or exclusively include a logic device for augmenting or fullyimplementing this disclosure. Such a logic device includes, but is notlimited to, an application-specific integrated circuit (ASIC), a fieldprogrammable gate array (FPGA), a generic-array of logic (GAL), andtheir equivalents. The processor A-1102 may be a separate device or asingle processing mechanism. Further, this disclosure may benefit fromparallel processing capabilities of a multi-cored processor.

In another aspect, results of processing in accordance with thisdisclosure, e.g., the status bar A-1210, may be displayed via the outputunit A-1200. The output unit A-1200 can include a display controllerA-1112 that controls a monitor A-1114. The monitor A-1114 may beperipheral to or part of the electronic control unit A-1100. The displaycontroller A-1112 may also include at least one graphic processing unitfor improved computational efficiency.

Moreover, the output unit A-1200 and the input unit A-1300 may be mergedtogether by having the monitor A-1114 provided with a touch-sensitiveinterface to a command/instruction interface.

Additionally, the electronic control unit A-1100 may include an I/O(input/output) interface A-1116, provided for inputting sensor data fromthe plurality of sensors A-1400, e.g., the output torque sensor A-1410,the hydraulic fluid temperature sensor A-1420, the output speed sensorA-1430, the position sensor A-1440, and the hydraulic pressure sensorA-1450.

Further, other input devices may be connected to an I/O interface A-1116as peripherals or as part of the controller A-1100. For example, akeyboard or a pointing device such as a mouse A-1120 may controlparameters of the various processes and algorithms of this disclosure,and may be connected to the I/O interface A-1116 to provide additionalfunctionality and configuration options, or to control displaycharacteristics. Actuators A-1122 which may be embodied in any of theelements of the apparatuses described in this disclosure such as thehydraulic actuator A-1510 and/or the power actuator C-1500, may also beconnected to the I/O interface A-1116.

The above-noted hardware components may be coupled to the networkA-1124, such as the Internet or a local intranet, via a networkinterface A-1126 for the transmission or reception of data, includingcontrollable parameters to a mobile device. A central BUS A-1128 may beprovided to connect the above-noted hardware components together, and toprovide at least one path for digital communication there between.

FIGS. 5A-5B are sectional views of the variable displacement pump 4000in a centered position and in a startup position of the livestock feedmixer 1000, according to certain aspects of the disclosure.

The variable displacement pump 4000 can include a housing 146, a barrel148 disposed in the housing 146 to rotate about a barrel axis BA, theswashplate 138, a servo piston assembly 200 that articulates theswashplate 138, and the bias system 400 that maintains the swashplate138 in the startup position when pressure in the variable displacementpump 4000 is substantially low.

The barrel 148 may define a series of barrel chambers 151 spaced in acircular array at regular intervals about the barrel axis BA. Eachbarrel chamber of the series of barrel chambers 151 may be configured toreceive one barrel piston 152, which may perform oscillatory motionwithin the respective barrel chamber 151. A terminal portion of eachbarrel piston 152 may be biased against the swashplate 138 such thateach barrel piston 152 performs oscillatory motion due to the rotationof the barrel 148 and an inclination of the swashplate 138 with respectto the housing 146. Specifically, when the barrel 148 is rotated,inclination of the swashplate 138 may cause the barrel pistons 152 toundergo an oscillatory displacement in and out of the barrel 148 alongthe barrel axis BA. Due to such movement of the barrel pistons 152, thehydraulic fluid may be drawn into the barrel chambers 151 and pushed outof the chambers 151.

To cause rotational motion of the barrel 148 within the housing 146, thevariable displacement pump 4000 may include a shaft 154 that connectsthe power source C-1000 to the barrel 148.

The amount of hydraulic fluid drawn into and out of the barrel chambers151 may also be controlled by varying stroke length of each barrelpiston 152, which may increase the amount of hydraulic fluid that isdisplaced to the predetermined level during each rotation of the barrel148. The stroke length of each barrel piston 151 may be varied bychanging the inclination and/or articulating of the swashplate 138 withrespect to the housing 146.

The swashplate 138 can be articulated by the servo piston assembly 200between a positive position, e.g., maximum positive fluid displacement,the centered position, e.g., no displacement of fluid, and a negativeposition, e.g., the negative fluid displacement is maximized, speedratio R_(in/out) is maximized and the output speed W_(out) is minimized.

The bias system 400 can maintain the swashplate 138 in the startupposition when the power source C-1000 has just turn on and/or off, asillustrated in FIG. 5B.

The bias system 400 can assure that the swashplate 138 is in the startupposition, e.g., substantially close to the negative position and faraway from the centered position, to prevent the power source C-1000and/or the livestock food mixer B-1000 to undergo excessive loads whichmay damage the power source C-1000 and/or the livestock food mixerB-1000.

The servo piston assembly 200 can include a chamber 210, a first inlet212 that opens the chamber 210, a second inlet 214 opposite to the firstinlet 212 that opens the chamber 210, a piston 220 located in thechamber 210 between the first inlet 212 and the second inlet 214 andlinked with the swashplate 138.

To articulate the swashplate 138 from the centered position to thenegative position, hydraulic fluid is received in the chamber 210 by thefirst inlet 212 and the piston 220 slides from the first inlet 212towards the second inlet 214. Similarly, to articulate the swashplate138 from the negative position to the centered position, hydraulic fluidis received in the chamber 210 by the second inlet 214 and the piston220 slides from the second inlet 214 towards the first inlet 212.

To articulate the swashplate 138 from the centered position to thepositive position, hydraulic fluid is received in the chamber 210 by thesecond inlet 214 and the piston 220 slides from the second inlet 214towards the first inlet 212. Similarly, to articulate the swashplate 138from the positive position to the centered position, hydraulic fluid isreceived in the chamber 210 by the first inlet 212 and the piston 220slides from the first inlet 212 towards the first inlet 214.

The bias system 400 can be partially located in the chamber 210 and caninclude an adjusting rod 410 that extends from the piston 220 to anexternal portion of the housing 146, a shoulder 420 positioned on theexternal portion of the housing 146 and around the adjusting rod 410,and a bias mechanism 430 positioned around the adjusting rod 410 andthat extends between the second inlet 214 and the piston 220.

The bias mechanism 430 can be any kind of mechanical and/orhydro-mechanical device, e.g., helicoidal spring, torsion spring, gasspring, or the like, that generate a predetermined force to center theswashplate 138 in the startup position when substantially low pressureis present in the variable displacement pump 2000, the power sourceC-1000 is turn off and/or on, wherein the startup position may be offsetfrom the centered position

The adjusting rod 410 can be configured to thread in the shoulder 420 topull the piston 220 and the bias mechanism 430 towards the second inlet214 and to push the piston 220 and the bias mechanism 430 away from thesecond inlet 214 in order to adjust the position of the startup positionbetween the centered position and the negative position.

The location of the startup position can be adjusted via the adjustingrod 410 such that the swashplate 138 is substantially close to thenegative position and far away from the centered position, to preventthe power source C-1000 and/or the livestock food mixer B-1000 toundergo excessive loads which may damage the power source C-1000 and/orthe livestock food mixer B-1000 when the power source C-1000 and/or thelivestock food mixer B-1000 is turn off and/or on, e.g., when pressureof the hydraulic fluid in the variable displacement pump 2000 is low.

The bias system 400 can also include a first limit adjustment stop 216that extends from an external portion of the housing 146 to a firstterminal portion of the chamber 210, a first shoulder 216 a positionedon the external portion of the housing 146 and around the limitadjustment stop 216 to hold the first limit adjustment stop 216 inplace. The first limit adjustment stop 216 prevents the swashplate 138from moving beyond a predetermined limit in the positive direction.

The bias system 400 can also include a second limit adjustment stop 218that extends from an external portion of the housing 146 to a secondterminal portion of the chamber 210, a second shoulder 218 a positionedon the external portion of the housing 146 and around the second limitadjustment stop 218 to hold the second limit adjustment stop 218 inplace. The second limit adjustment stop 218 prevents the swashplate 138from moving beyond a predetermined limit in the negative direction.

The foregoing discussion discloses and describes merely exemplaryembodiments of an object of the present disclosure. As will beunderstood by those skilled in the art, an object of the presentdisclosure may be embodied in other specific forms without departingfrom the spirit or essential characteristics thereof. Accordingly, thepresent disclosure is intended to be illustrative, but not limiting ofthe scope of an object of the present disclosure as well as the claims.

Numerous modifications and variations on the present disclosure possiblein light of the above teachings. It is therefore to be understood thatwithin the scope of the appended claims, the disclosure may be practicedotherwise than as specifically described herein.

What is claimed is:
 1. A control system for mixing materials forlivestock feed, comprising: a container that receives the materials;agitators that mix the materials in the container; a driveline thatdrives the agitators at an output speed with an output torque; a powersource that provides an input speed at an input torque; a continuouslyvariable transmission that connects the driveline and the power sourceand having an actuator to provide a speed ratio between the input speedand the output speed; a plurality of sensors positioned between thepower source and the agitators that provides mixing signals commensurateto mixing parameters; and an electronic control unit configured toreceive the mixing signals, extract mixing parameter values from themixing signals, and actuate the continuously variable transmission andadjust the speed ratio based on the mixing parameter values to enhanceefficiency of the mixing of the materials.
 2. The control system ofclaim 1, wherein the actuator is a hydrostatic loop.
 3. The controlsystem of claim 2, wherein the plurality of sensors includes a hydraulicpressure sensor that provides pressure signals commensurate withhydraulic pressure of the hydrostatic loop.
 4. The control system ofclaim 3, wherein the electrical control unit is further configured todetect when materials are being released or loaded in the container andadjusts the speed ratio based on the hydraulic pressure.
 5. The controlsystem of claim 2, wherein the container includes an opening systemarticulable between an open state and a closed state.
 6. The controlsystem of claim 5, wherein the plurality of sensors includes a positionsensor to provide articulation signals indicative of a state of theopening system.
 7. The control system of claim 6, wherein the electricalcontrol unit is further configured to increase the output speed when thearticulation signals indicates that the opening system r is articulatedfrom the closed state to the open state.
 8. The control system of claim2, wherein the plurality of sensors includes a temperature sensor thatprovides temperature signals commensurate temperature of a hydraulicfluid circulating in the hydrostatic loop at a flow rate.
 9. The controlsystem of claim 8, wherein the electrical control unit is furtherconfigured to decrease the flow rate of the hydraulic fluid whentemperature of the hydraulic fluid is above a temperature threshold. 10.The control system of claim 2, wherein the power source is a tractorwith a power take-off.
 11. A method to control mixing of materials forlivestock feed through a control system, the control system including acontainer to receive the materials, agitators to mix the materials inthe container, a driveline to drive the agitators at an output speedwith an output torque, a power source to provide an input speed with aninput torque, a continuously variable transmission to connect thedriveline to the power source and provide a speed ratio between theinput speed and the output speed, a plurality of sensors positionedbetween the power source and the agitators that provides mixing signalscommensurate to mixing parameters; and an electronic control unitconfigured to control the mixing of the materials, the methodcomprising: acquiring, via the plurality of sensors and softwareinstructions executed by the electronic control unit, mixing parameters;detecting, via software instructions executed by the electronic controlunit, if the materials are being loaded in the container based on themixing parameters; detecting, via software instructions executed by theelectronic control unit, if the materials are being released from thecontainer based on the mixing parameters; and adjusting, via softwareinstructions executed by the electronic control unit, value of the speedratio to change the output speed and enhance the releasing and themixing of the materials.
 12. The method to control mixing of claim 11,wherein acquiring the mixing parameters further includes acquiring apressure and a rate of change of the pressure of a hydraulic fluid ofthe continuously variable transmission.
 13. The method to control mixingof claim 12, further includes comparing the pressure to a pressurethreshold for detecting if the materials are being released or loaded inthe container.
 14. The method to control of claim 12, further includescomparing the rate of change of the pressure to a pressure ratethreshold for detecting if the materials are being released or loaded inthe container.
 15. The method to control mixing of claim 11, whereinacquiring the mixing parameters further includes acquiring anarticulation state of an opening system of the container that isarticulable between a closed state and an open state.
 16. The controlsystem of claim 15, further includes adjusting the output speed when thearticulation state indicates that the opening system is articulated fromthe closed state to the open state or the opening system is articulatedfrom the open state to the closed state.
 17. The control system of claim11, further includes detecting if the power source needs to beprotected.
 18. The control system of claim 17, further includesadjusting the power source based on the mixing parameters.
 19. Thecontrol system of claim 11, further includes detecting risks of failureof the control system.
 20. The control system of claim 19, whereindetecting the risks of failure includes acquiring a temperature and arate of a change of the temperature in a hydraulic fluid of thecontinuously variable transmission.
 21. The control system of claim 20,wherein detecting the risks of failure includes comparing thetemperature to a temperature threshold and the rate of change of thetemperature to a temperate rate threshold.